diff mbox series

iio: imu: st_lsm6dsx: Scaling factor type set to IIO_VAL_INT_PLUS_NANO

Message ID 1600361236-2285-1-git-send-email-martepisa@gmail.com
State New
Headers show
Series iio: imu: st_lsm6dsx: Scaling factor type set to IIO_VAL_INT_PLUS_NANO | expand

Commit Message

Mario Tesi Sept. 17, 2020, 4:47 p.m. UTC
From: Mario Tesi <mario.tesi@st.com>

Scaling factor values for Acc lead to an unacceptable rounding of the
full scale (FS) calculated by some SensorHAL on Android devices. For examples
setting FS to 4g the in_accel_x_scale, in_accel_y_scale and in_accel_z_scale
are 0.001196 on 6 decimal digits and the FS is
0.001196 × ((2^15) − 1) ~= 39.1893 m/s^2.

Android CTS R10 SensorParameterRangeTest test expects a value greater than
39.20 m/s^2 so this test fails (ACCELEROMETER_MAX_RANGE = 4 * 9.80).

Using 9 decimal digits the new scale factor is 0.001196411 and the FS now
is 0.001196411 × ((2^15)−1) ~= 39.2028 m/s^2.

This patch extends to IIO_VAL_INT_PLUS_NANO type the scaling factor to all
IMU devices where SensorParameterRangeTest CTS test fails.

Signed-off-by: Mario Tesi <mario.tesi@st.com>
---
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 134 +++++++++++++++------------
 1 file changed, 77 insertions(+), 57 deletions(-)

Comments

Jonathan Cameron Sept. 19, 2020, 1:30 p.m. UTC | #1
On Thu, 17 Sep 2020 18:47:16 +0200
Mario Tesi <martepisa@gmail.com> wrote:

> From: Mario Tesi <mario.tesi@st.com>
> 
> Scaling factor values for Acc lead to an unacceptable rounding of the
> full scale (FS) calculated by some SensorHAL on Android devices. For examples
> setting FS to 4g the in_accel_x_scale, in_accel_y_scale and in_accel_z_scale
> are 0.001196 on 6 decimal digits and the FS is
> 0.001196 × ((2^15) − 1) ~= 39.1893 m/s^2.
> 
> Android CTS R10 SensorParameterRangeTest test expects a value greater than
> 39.20 m/s^2 so this test fails (ACCELEROMETER_MAX_RANGE = 4 * 9.80).
> 
> Using 9 decimal digits the new scale factor is 0.001196411 and the FS now
> is 0.001196411 × ((2^15)−1) ~= 39.2028 m/s^2.
> 
> This patch extends to IIO_VAL_INT_PLUS_NANO type the scaling factor to all
> IMU devices where SensorParameterRangeTest CTS test fails.
> 
> Signed-off-by: Mario Tesi <mario.tesi@st.com>
Is this v2?  If so where is the change log?
Thankfully wasn't too hard to spot the difference and you were fixing what
Lorenzo was pointing out in v1.

Also, should have picked up Lorenzo's tag from v1 as you have fixed
what he asked you to fix before applying it.

Anyhow, stuff to get right next time.

Applied to the togreg branch of iio.git and pushed out as testing for
the autobuilders to play with it.

Thanks,

Jonathan


	

> ---
>  drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c | 134 +++++++++++++++------------
>  1 file changed, 77 insertions(+), 57 deletions(-)
> 
> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> index 346c242..42f4856 100644
> --- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
> @@ -157,10 +157,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x20,
>  					.mask = GENMASK(4, 3),
>  				},
> -				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
> -				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
> -				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
> -				.fs_avl[3] = { IIO_G_TO_M_S_2(732), 0x1 },
> +				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
> +				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
> +				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
> +				.fs_avl[3] = { IIO_G_TO_M_S_2(732000), 0x1 },
>  				.fs_len = 4,
>  			},
>  			[ST_LSM6DSX_ID_GYRO] = {
> @@ -169,9 +169,9 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.mask = GENMASK(4, 3),
>  				},
>  
> -				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
> -				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
> -				.fs_avl[2] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
> +				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
> +				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
> +				.fs_avl[2] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
>  				.fs_len = 3,
>  			},
>  		},
> @@ -259,10 +259,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x10,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
> -				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
> -				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
> -				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
> +				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
> +				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
> +				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
> +				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
>  				.fs_len = 4,
>  			},
>  			[ST_LSM6DSX_ID_GYRO] = {
> @@ -270,10 +270,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x11,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
> -				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
> -				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
> -				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
> +				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
> +				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
> +				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
> +				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
>  				.fs_len = 4,
>  			},
>  		},
> @@ -425,10 +425,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x10,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
> -				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
> -				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
> -				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
> +				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
> +				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
> +				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
> +				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
>  				.fs_len = 4,
>  			},
>  			[ST_LSM6DSX_ID_GYRO] = {
> @@ -436,10 +436,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x11,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
> -				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
> -				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
> -				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
> +				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
> +				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
> +				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
> +				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
>  				.fs_len = 4,
>  			},
>  		},
> @@ -600,10 +600,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x10,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
> -				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
> -				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
> -				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
> +				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
> +				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
> +				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
> +				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
>  				.fs_len = 4,
>  			},
>  			[ST_LSM6DSX_ID_GYRO] = {
> @@ -611,10 +611,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x11,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
> -				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
> -				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
> -				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
> +				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
> +				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
> +				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
> +				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
>  				.fs_len = 4,
>  			},
>  		},
> @@ -816,10 +816,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x10,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
> -				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
> -				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
> -				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
> +				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
> +				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
> +				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
> +				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
>  				.fs_len = 4,
>  			},
>  			[ST_LSM6DSX_ID_GYRO] = {
> @@ -827,10 +827,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x11,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
> -				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
> -				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
> -				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
> +				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
> +				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
> +				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
> +				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
>  				.fs_len = 4,
>  			},
>  		},
> @@ -1021,10 +1021,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x10,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
> -				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
> -				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
> -				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
> +				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
> +				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
> +				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
> +				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
>  				.fs_len = 4,
>  			},
>  			[ST_LSM6DSX_ID_GYRO] = {
> @@ -1032,10 +1032,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x11,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
> -				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
> -				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
> -				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
> +				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
> +				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
> +				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
> +				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
>  				.fs_len = 4,
>  			},
>  		},
> @@ -1200,10 +1200,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x10,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
> -				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
> -				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
> -				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
> +				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
> +				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
> +				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
> +				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
>  				.fs_len = 4,
>  			},
>  			[ST_LSM6DSX_ID_GYRO] = {
> @@ -1211,10 +1211,10 @@ static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
>  					.addr = 0x11,
>  					.mask = GENMASK(3, 2),
>  				},
> -				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
> -				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
> -				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
> -				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
> +				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
> +				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
> +				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
> +				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
>  				.fs_len = 4,
>  			},
>  		},
> @@ -1598,7 +1598,7 @@ static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
>  	case IIO_CHAN_INFO_SCALE:
>  		*val = 0;
>  		*val2 = sensor->gain;
> -		ret = IIO_VAL_INT_PLUS_MICRO;
> +		ret = IIO_VAL_INT_PLUS_NANO;
>  		break;
>  	default:
>  		ret = -EINVAL;
> @@ -1836,13 +1836,31 @@ static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev,
>  
>  	fs_table = &hw->settings->fs_table[sensor->id];
>  	for (i = 0; i < fs_table->fs_len; i++)
> -		len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
> +		len += scnprintf(buf + len, PAGE_SIZE - len, "0.%09u ",
>  				 fs_table->fs_avl[i].gain);
>  	buf[len - 1] = '\n';
>  
>  	return len;
>  }
>  
> +static int st_lsm6dsx_write_raw_get_fmt(struct iio_dev *indio_dev,
> +					struct iio_chan_spec const *chan,
> +					long mask)
> +{
> +	switch (mask) {
> +	case IIO_CHAN_INFO_SCALE:
> +		switch (chan->type) {
> +		case IIO_ANGL_VEL:
> +		case IIO_ACCEL:
> +			return IIO_VAL_INT_PLUS_NANO;
> +		default:
> +			return IIO_VAL_INT_PLUS_MICRO;
> +		}
> +	default:
> +		return IIO_VAL_INT_PLUS_MICRO;
> +	}
> +}
> +
>  static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail);
>  static IIO_DEVICE_ATTR(in_accel_scale_available, 0444,
>  		       st_lsm6dsx_sysfs_scale_avail, NULL, 0);
> @@ -1868,6 +1886,7 @@ static const struct iio_info st_lsm6dsx_acc_info = {
>  	.read_event_config = st_lsm6dsx_read_event_config,
>  	.write_event_config = st_lsm6dsx_write_event_config,
>  	.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
> +	.write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
>  };
>  
>  static struct attribute *st_lsm6dsx_gyro_attributes[] = {
> @@ -1885,6 +1904,7 @@ static const struct iio_info st_lsm6dsx_gyro_info = {
>  	.read_raw = st_lsm6dsx_read_raw,
>  	.write_raw = st_lsm6dsx_write_raw,
>  	.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
> +	.write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
>  };
>  
>  static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)
diff mbox series

Patch

diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
index 346c242..42f4856 100644
--- a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
+++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c
@@ -157,10 +157,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x20,
 					.mask = GENMASK(4, 3),
 				},
-				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
-				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
-				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
-				.fs_avl[3] = { IIO_G_TO_M_S_2(732), 0x1 },
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(732000), 0x1 },
 				.fs_len = 4,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -169,9 +169,9 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.mask = GENMASK(4, 3),
 				},
 
-				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
-				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
-				.fs_avl[2] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
+				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+				.fs_avl[2] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
 				.fs_len = 3,
 			},
 		},
@@ -259,10 +259,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
-				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
-				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
-				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
 				.fs_len = 4,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -270,10 +270,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
-				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
-				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
-				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
+				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
 				.fs_len = 4,
 			},
 		},
@@ -425,10 +425,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
-				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
-				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
-				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
 				.fs_len = 4,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -436,10 +436,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
-				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
-				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
-				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
+				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
 				.fs_len = 4,
 			},
 		},
@@ -600,10 +600,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
-				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
-				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
-				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
 				.fs_len = 4,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -611,10 +611,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
-				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
-				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
-				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
+				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
 				.fs_len = 4,
 			},
 		},
@@ -816,10 +816,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
-				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
-				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
-				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
 				.fs_len = 4,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -827,10 +827,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
-				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
-				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
-				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
+				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
 				.fs_len = 4,
 			},
 		},
@@ -1021,10 +1021,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
-				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
-				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
-				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
 				.fs_len = 4,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -1032,10 +1032,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
-				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
-				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
-				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
+				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
 				.fs_len = 4,
 			},
 		},
@@ -1200,10 +1200,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x10,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_G_TO_M_S_2(61), 0x0 },
-				.fs_avl[1] = { IIO_G_TO_M_S_2(122), 0x2 },
-				.fs_avl[2] = { IIO_G_TO_M_S_2(244), 0x3 },
-				.fs_avl[3] = { IIO_G_TO_M_S_2(488), 0x1 },
+				.fs_avl[0] = {  IIO_G_TO_M_S_2(61000), 0x0 },
+				.fs_avl[1] = { IIO_G_TO_M_S_2(122000), 0x2 },
+				.fs_avl[2] = { IIO_G_TO_M_S_2(244000), 0x3 },
+				.fs_avl[3] = { IIO_G_TO_M_S_2(488000), 0x1 },
 				.fs_len = 4,
 			},
 			[ST_LSM6DSX_ID_GYRO] = {
@@ -1211,10 +1211,10 @@  static const struct st_lsm6dsx_settings st_lsm6dsx_sensor_settings[] = {
 					.addr = 0x11,
 					.mask = GENMASK(3, 2),
 				},
-				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750), 0x0 },
-				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500), 0x1 },
-				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000), 0x2 },
-				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000), 0x3 },
+				.fs_avl[0] = {  IIO_DEGREE_TO_RAD(8750000), 0x0 },
+				.fs_avl[1] = { IIO_DEGREE_TO_RAD(17500000), 0x1 },
+				.fs_avl[2] = { IIO_DEGREE_TO_RAD(35000000), 0x2 },
+				.fs_avl[3] = { IIO_DEGREE_TO_RAD(70000000), 0x3 },
 				.fs_len = 4,
 			},
 		},
@@ -1598,7 +1598,7 @@  static int st_lsm6dsx_read_raw(struct iio_dev *iio_dev,
 	case IIO_CHAN_INFO_SCALE:
 		*val = 0;
 		*val2 = sensor->gain;
-		ret = IIO_VAL_INT_PLUS_MICRO;
+		ret = IIO_VAL_INT_PLUS_NANO;
 		break;
 	default:
 		ret = -EINVAL;
@@ -1836,13 +1836,31 @@  static ssize_t st_lsm6dsx_sysfs_scale_avail(struct device *dev,
 
 	fs_table = &hw->settings->fs_table[sensor->id];
 	for (i = 0; i < fs_table->fs_len; i++)
-		len += scnprintf(buf + len, PAGE_SIZE - len, "0.%06u ",
+		len += scnprintf(buf + len, PAGE_SIZE - len, "0.%09u ",
 				 fs_table->fs_avl[i].gain);
 	buf[len - 1] = '\n';
 
 	return len;
 }
 
+static int st_lsm6dsx_write_raw_get_fmt(struct iio_dev *indio_dev,
+					struct iio_chan_spec const *chan,
+					long mask)
+{
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+		case IIO_ACCEL:
+			return IIO_VAL_INT_PLUS_NANO;
+		default:
+			return IIO_VAL_INT_PLUS_MICRO;
+		}
+	default:
+		return IIO_VAL_INT_PLUS_MICRO;
+	}
+}
+
 static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(st_lsm6dsx_sysfs_sampling_frequency_avail);
 static IIO_DEVICE_ATTR(in_accel_scale_available, 0444,
 		       st_lsm6dsx_sysfs_scale_avail, NULL, 0);
@@ -1868,6 +1886,7 @@  static const struct iio_info st_lsm6dsx_acc_info = {
 	.read_event_config = st_lsm6dsx_read_event_config,
 	.write_event_config = st_lsm6dsx_write_event_config,
 	.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
+	.write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
 };
 
 static struct attribute *st_lsm6dsx_gyro_attributes[] = {
@@ -1885,6 +1904,7 @@  static const struct iio_info st_lsm6dsx_gyro_info = {
 	.read_raw = st_lsm6dsx_read_raw,
 	.write_raw = st_lsm6dsx_write_raw,
 	.hwfifo_set_watermark = st_lsm6dsx_set_watermark,
+	.write_raw_get_fmt = st_lsm6dsx_write_raw_get_fmt,
 };
 
 static int st_lsm6dsx_get_drdy_pin(struct st_lsm6dsx_hw *hw, int *drdy_pin)